Re: Rtabmap mapping with two cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2672.html

Hi,

I see you are using "gen_scan" and is the sensor tilted?. The sensor should be parallel to ground to work properly as it uses the middle line of the depth image, similar to depthimage_to_laserscan node. You may want to generate the laser scan outside rtabmap node if the camera is tilted using pointcloud_to_laserscan node. For the ray tracing behind the sensor, is it similar to this? If so, I'll check if there is a bug with "gen_scan" about that.

cheers,
Mathieu